Vehicle-in-the-loop testing technology for APA testing

1 Introduction

With the continuous development of the automotive electronics industry, drivers are increasingly demanding vehicle comfort and safety. Active safety-related control systems such as automatic parking, adaptive cruise, lane departure warning, lane keeping assistance, automatic emergency braking and blind zone monitoring have emerged. These systems are generally referred to as the Advanced Driver Assistance System (ADAS), which will intervene different degrees of vehicle, and if such an error occurs, it will lead to unimaginable results. Therefore, it is particularly important for OEMs to perform comprehensive functional tests on these driver assistance systems to avoid false interventions.

The most accurate environment for testing is undoubtedly the actual vehicle test, but there are many problems in the real vehicle test itself:

♦ High test time, manpower, and site cost;

♦ It takes time and effort to change the test of different scenes;

♦ Security is difficult to guarantee in case of participation;

♦ Random factors and low repeatability.

Therefore, Hengrun Technology proposes a test method between pure simulation test and real vehicle test - Vehicle in the loop test (Vehicleintheloop), which can help solve the above series of problems. Through the real vehicle in-loop test, the development and integration test time of the ADAS system can be effectively reduced, and the cost can be greatly reduced, and the probability of occurrence of dangerous events can be reduced.

2VIL Overview

VIL refers to the method of integrating the ADAS system into a real vehicle and simulating the road, traffic scene and sensor signals through real-time simulator and simulation software to form a complete test environment. It can realize ADAS function verification, various scene simulation tests, and Matching and integration testing of vehicle-related electronic control systems.

Real car in the ring to achieve renderings

Real car in the ring system program

Compared with the traditional hardware-in-the-loop (HIL) test, VIL replaces the vehicle model with real vehicles, which greatly improves the accuracy of the test results of the tested controller. Compared with the actual vehicle test, it will be realized. Complex and difficult to reproduce traffic scenarios are implemented in a simulation manner, and various test conditions can be quickly established. The repeatability of the working conditions makes rapid iterative development of the ADAS algorithm possible. In short, VIL bridges the gap between real vehicle testing and HIL testing, and it has the following advantages:

♦ Achieve fast scenarios and driving tests to efficiently verify the functionality of each controller;

♦ It is possible to test the interaction between the ADAS system and the execution system (power system, brake system, steering system);

♦ Reduce the difficulty and risk of real vehicle testing and reduce traffic accidents and risks;

♦ Reduce the need for venues, real traffic and test vehicles, and reuse test scenarios for MIL and HIL testing.

3 key technologies for real vehicles in the ring

• Inertial measurement unit

Through accurate DGPS positioning, the position information of the vehicle is obtained, and information such as vehicle speed, acceleration and yaw angle is calculated by the inertial measurement unit IMU, and the motion state of the vehicle is provided for the real-time simulation system.

• Virtual simulation environment

Construct a complete virtual traffic test environment through vehicle dynamics simulation software, including roads, traffic vehicles, pedestrians, and traffic environments. Real vehicles are placed in a virtual test environment to perform different driving tasks.

♦ Realize complex and variable virtual road environments, such as parking lots, two-way multi-lane, highways, turntables, etc.

Road scene

♦ A variety of transportation vehicle configurations, such as passenger cars, trucks, public transportation, motorcycles, etc., and each transportation vehicle performs different driving tasks.

Traffic vehicle

♦ Achieve pedestrian simulation, including men, women, children, and their standing, walking, running and other actions. For example, simulate a test scenario in which a pedestrian suddenly appears.

Pedestrian scene

♦ A realistic virtual environment that includes trees, buildings, navigation signs, traffic lights, traffic signs, and more.

Virtual environment

• Sensor simulation

The sensors used in the ADAS system are mainly used to sense the surrounding environment of vehicles, including millimeter wave radar, ultrasonic radar, laser radar, camera and so on. Sensor simulation can be done in a real or virtual way. The virtual sensor is simulated by the simulation software, and the information of the virtual traffic scene is transmitted to the ADAS system through the VIL device.

Virtual sensor

• Real-time simulator

The role of the real-time simulator is to provide a real-time simulation environment and to interact with virtual and real signals.

• Real vehicle

Real vehicles, including vehicles and electronic control systems, operate on a wide, safe, flat ground, and are actually operating in a pre-set traffic test environment for the driving assistance system being tested.

test environment

4 application cases

BMW BMW's R&D center uses vehicle-in-the-loop technology to perform functional tests on its automatic parking system.

The process used a test vehicle placed on an open field and built a series of parking test scenarios with simulation software, including typical scenes such as vertical parking and horizontal parking.

Automatic parking system VIL test

5 Conclusion

The Hengrun Technology VIL test system reduces the parameter calibration of the vehicle dynamics model by using the actual vehicle, which makes the test result more accurate. The virtual scene can use the original algorithm development and the traffic scene during the HIL test. According to some traffic accidents, the test scenario is determined. The scenario switching process is greatly simplified compared with the real vehicle test. In the active safety related test, the virtual scenario can avoid accidents and save unnecessary equipment loss; its repeatability Very high, after a large number of repeated real vehicle ring tests can significantly reduce the functional defects of the system under test, which reduces the workload of the original real vehicle field test and road test, improve the test efficiency and reduce the test cost.

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